Applying DDPG Algorithm to Swing-Up and Balance Control for a Double Inverted Pendulum on a Cart

Abstract

In this study, we apply the Deep Deterministic Policy Gradient (DDPG) algorithm in reinforcement learning to control a double inverted pendulum on a cart (DIPC)- a high order single input-multi output (SIMO) system . The simulation results demonstrate DDPG’s stability and effectiveness in achieving swing-up and balance, showing its potential for tackling challenging control tasks in robotics.

Keywords

• reinforcement learning
• ddpg
• double inverted pendulum on a cart
• swing-up
• balance